OpenRaiser/Intern-Atlas huggingface dataset:
General techniques for approximate incidences and their application to the camera posing problem
Venue: arXiv cs.CG 2019
Year: 2019

We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect associations), and where we aim to determine the camera pose (the position and orientation of the camera in the scene) from this data. We demonstrate that this posing problem can be reduced to the problem of computing ε-approximate incidences between two-dimensional surfaces (derived from the input correspondences) and points (on a grid) in a four-dimensional pose space. Similar reductions can be applied to other camera pose problems, as well as to similar problems in related application areas. We describe and analyze three techniques for solving the resulting ε-approximate incidences problem in the context of our camera posing application. The first is a straightforward assignment of surfaces to the cells of a grid (of side-length ε) that they intersect. The second is a variant of a primal-dual technique, recently introduced by a subset of the authors [2] for different (and simpler) applications. The third is a non-trivial generalization of a data structure Fonseca and Mount [3], originally designed for the case of hyperplanes. We present and analyze this technique in full generality, and then apply it to the camera posing problem at hand. We compare our methods experimentally on real and synthetic data. Our experiments show that for the typical values of n and ε, the primal-dual method is the fastest, also in practice.
Older Adults and Voice Interaction: A Pilot Study with Google Home
Venue: arXiv cs.HC 2019
Year: 2019

In this paper we present the results of an exploratory study examining the potential of voice assistants (VA) for some groups of older adults in the context of Smart Home Technology (SHT). To research the aspect of older adults' interaction with voice user interfaces (VUI) we organized two workshops and gathered insights concerning possible benefits and barriers to the use of VA combined with SHT by older adults. Apart from evaluating the participants' interaction with the devices during the two workshops we also discuss some improvements to the VA interaction paradigm.
AttoNets: Compact and Efficient Deep Neural Networks for the Edge via Human-Machine Collaborative Design
Venue: arXiv cs.CV 2019
Year: 2019

While deep neural networks have achieved state-of-the-art performance across a large number of complex tasks, it remains a big challenge to deploy such networks for practical, on-device edge scenarios such as on mobile devices, consumer devices, drones, and vehicles. In this study, we take a deeper exploration into a human-machine collaborative design approach for creating highly efficient deep neural networks through a synergy between principled network design prototyping and machine-driven design exploration. The efficacy of human-machine collaborative design is demonstrated through the creation of AttoNets, a family of highly efficient deep neural networks for on-device edge deep learning. Each AttoNet possesses a human-specified network-level macro-architecture comprising of custom modules with unique machine-designed module-level macro-architecture and micro-architecture designs, all driven by human-specified design requirements. Experimental results for the task of object recognition showed that the AttoNets created via human-machine collaborative design has significantly fewer parameters and computational costs than state-of-the-art networks designed for efficiency while achieving noticeably higher accuracy (with the smallest AttoNet achieving ~1.8% higher accuracy while requiring ~10x fewer multiply-add operations and parameters than MobileNet-V1). Furthermore, the efficacy of the AttoNets is demonstrated for the task of instance-level object segmentation and object detection, where an AttoNet-based Mask R-CNN network was constructed with significantly fewer parameters and computational costs (~5x fewer multiply-add operations and ~2x fewer parameters) than a ResNet-50 based Mask R-CNN network.
Parametric schedulability analysis of a launcher flight control system under reactivity constraints
Venue: arXiv cs.SE 2019
Year: 2019

The next generation of space systems will have to achieve more and more complex missions. In order to master the development cost and duration of such systems, an alternative to a manual design is to automatically synthesize the main parameters of the system. In this paper, we present an approach on the specific case of the scheduling of the flight control of a space launcher. The approach requires two successive steps: (1) the formalization of the problem to be solved in a parametric formal model and (2) the synthesis of the model parameters with a tool. We first describe the problematic of the scheduling of a launcher flight control, then we show how this problematic can be formalized with parametric stopwatch automata; we then present the results computed by IMITATOR. We compare the results to the ones obtained by other tools classically used in scheduling.
Complex Scene Classification of PolSAR Imagery based on a Self-paced Learning Approach
Venue: arXiv cs.CV 2019
Year: 2019

Existing polarimetric synthetic aperture radar (PolSAR) image classification methods cannot achieve satisfactory performance on complex scenes characterized by several types of land cover with significant levels of noise or similar scattering properties across land cover types. Hence, we propose a supervised classification method aimed at constructing a classifier based on self-paced learning (SPL). SPL has been demonstrated to be effective at dealing with complex data while providing classifier. In this paper, a novel Support Vector Machine (SVM) algorithm based on SPL with neighborhood constraints (SVM_SPLNC) is proposed. The proposed method leverages the easiest samples first to obtain an initial parameter vector. Then, more complex samples are gradually incorporated to update the parameter vector iteratively. Moreover, neighborhood constraints are introduced during the training process to further improve performance. Experimental results on three real PolSAR images show that the proposed method performs well on complex scenes.
A Network Monitoring Game with Heterogeneous Component Criticality Levels
Venue: arXiv cs.GT 2019
Year: 2019

We consider an attacker-operator game for monitoring a large-scale network that is comprised on components that differ in their criticality levels. In this zero-sum game, the operator seeks to position a limited number of sensors to monitor the network against an attacker who strategically targets a network component. The operator (resp. attacker) seeks to minimize (resp. maximize) the network loss. To study the properties of mixed-strategy Nash Equilibria of this game, we first study two simple instances: (i) When component sets monitored by individual sensor locations are mutually disjoint; (ii) When only a single sensor is positioned, but with possibly overlapping monitoring component sets. Our analysis reveals new insights on how criticality levels impact the players equilibrium strategies. Next, we extend a previously known approach to obtain an approximate Nash equilibrium for the general case of the game. This approach uses solutions to minimum set cover and maximum set packing problems to construct an approximate Nash equilibrium. Finally, we implement a column generation procedure to improve this solution and numerically evaluate the performance of our approach.
Autoregressive Models for Sequences of Graphs
Venue: arXiv cs.LG 2019
Year: 2019

This paper proposes an autoregressive (AR) model for sequences of graphs, which generalises traditional AR models. A first novelty consists in formalising the AR model for a very general family of graphs, characterised by a variable topology, and attributes associated with nodes and edges. A graph neural network (GNN) is also proposed to learn the AR function associated with the graph-generating process (GGP), and subsequently predict the next graph in a sequence. The proposed method is compared with four baselines on synthetic GGPs, denoting a significantly better performance on all considered problems.
M$^2$VAE - Derivation of a Multi-Modal Variational Autoencoder Objective from the Marginal Joint Log-Likelihood
Venue: arXiv cs.LG 2019
Year: 2019

This work gives an in-depth derivation of the trainable evidence lower bound obtained from the marginal joint log-Likelihood with the goal of training a Multi-Modal Variational Autoencoder (M$^2$VAE).
Joint axis estimation for fast and slow movements using weighted gyroscope and acceleration constraints
Venue: arXiv cs.SY 2019
Year: 2019

Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well as in many robotic limbs, then the joint axis vector must be identified in the intrinsic sensor coordinate systems. There exist methods that identify these coordinates by solving an optimization problem that is based on kinematic joint constraints, which involve either the measured accelerations or the measured angular rates. In the current paper we demonstrate that using only one of these constraints leads to inaccurate estimates at either fast or slow motions. We propose a novel method based on a cost function that combines both constraints. The restrictive assumption of a homogeneous magnetic field is avoided by using only accelerometer and gyroscope readings. To combine the advantages of both sensor types, the residual weights are adjusted automatically based on the estimated signal variances and a nonlinear weighting of the acceleration norm difference. The method is evaluated using real data from nine different motions of an upper limb exoskeleton. Results show that, unlike previous approaches, the proposed method yields accurate joint axis estimation after only five seconds for all fast and slow motions.
IvaNet: Learning to jointly detect and segment objets with the help of Local Top-Down Modules
Venue: arXiv cs.CV 2019
Year: 2019

Driven by Convolutional Neural Networks, object detection and semantic segmentation have gained significant improvements. However, existing methods on the basis of a full top-down module have limited robustness in handling those two tasks simultaneously. To this end, we present a joint multi-task framework, termed IvaNet. Different from existing methods, our IvaNet backwards abstract semantic information from higher layers to augment lower layers using local top-down modules. The comparisons against some counterparts on the PASCAL VOC and MS COCO datasets demonstrate the functionality of IvaNet.
The Norms of Graph Spanners
Venue: arXiv cs.DS 2019
Year: 2019

A $t$-spanner of a graph $G$ is a subgraph $H$ in which all distances are preserved up to a multiplicative $t$ factor. A classical result of Althöfer et al. is that for every integer $k$ and every graph $G$, there is a $(2k-1)$-spanner of $G$ with at most $O(n^{1+1/k})$ edges. But for some settings the more interesting notion is not the number of edges, but the degrees of the nodes. This spurred interest in and study of spanners with small maximum degree. However, this is not necessarily a robust enough objective: we would like spanners that not only have small maximum degree, but also have "few" nodes of "large" degree. To interpolate between these two extremes, in this paper we initiate the study of graph spanners with respect to the $\ell_p$-norm of their degree vector, thus simultaneously modeling the number of edges (the $\ell_1$-norm) and the maximum degree (the $\ell_{\infty}$-norm). We give precise upper bounds for all ranges of $p$ and stretch $t$: we prove that the greedy $(2k-1)$-spanner has $\ell_p$ norm of at most $\max(O(n), O(n^{(k+p)/(kp)}))$, and that this bound is tight (assuming the Erdős girth conjecture). We also study universal lower bounds, allowing us to give "generic" guarantees on the approximation ratio of the greedy algorithm which generalize and interpolate between the known approximations for the $\ell_1$ and $\ell_{\infty}$ norm. Finally, we show that at least in some situations, the $\ell_p$ norm behaves fundamentally differently from $\ell_1$ or $\ell_{\infty}$: there are regimes ($p=2$ and stretch $3$ in particular) where the greedy spanner has a provably superior approximation to the generic guarantee.
The Road Ahead for Networking: A Survey on ICN-IP Coexistence Solutions
Venue: arXiv cs.NI 2019
Year: 2019

In recent years, the current Internet has experienced an unexpected paradigm shift in the usage model, which has pushed researchers towards the design of the Information-Centric Networking (ICN) paradigm as a possible replacement of the existing architecture. Even though both Academia and Industry have investigated the feasibility and effectiveness of ICN, achieving the complete replacement of the Internet Protocol (IP) is a challenging task. Some research groups have already addressed the coexistence by designing their own architectures, but none of those is the final solution to move towards the future Internet considering the unaltered state of the networking. To design such architecture, the research community needs now a comprehensive overview of the existing solutions that have so far addressed the coexistence. The purpose of this paper is to reach this goal by providing the first comprehensive survey and classification of the coexistence architectures according to their features (i.e., deployment approach, deployment scenarios, addressed coexistence requirements and architecture or technology used) and evaluation parameters (i.e., challenges emerging during the deployment and the runtime behaviour of an architecture). We believe that this paper will finally fill the gap required for moving towards the design of the final coexistence architecture.
Blockchain for the Internet of Things: Present and Future
Venue: arXiv cs.CR 2019
Year: 2019

One of the key challenges to the IoT's success is how to secure and anonymize billions of IoT transactions and devices per day, an issue that still lingers despite significant research efforts over the last few years. On the other hand, technologies based on blockchain algorithms are disrupting today's cryptocurrency markets and showing tremendous potential, since they provide a distributed transaction ledger that cannot be tampered with or controlled by a single entity. Although the blockchain may present itself as a cure-all for the IoT's security and privacy challenges, significant research efforts still need to be put forth to adapt the computation-intensive blockchain algorithms to the stringent energy and processing constraints of today's IoT devices. In this paper, we provide an overview of existing literature on the topic of blockchain for IoT, and present a roadmap of research challenges that will need to be addressed to enable the usage of blockchain technologies in the IoT.
Solving $x^{2^k+1}+x+a=0$ in $\mathbb{F}_{2^n}$ with $\gcd(n,k)=1$
Venue: arXiv cs.IT 2019
Year: 2019

Let $N_a$ be the number of solutions to the equation $x^{2^k+1}+x+a=0$ in $\GF {n}$ where $\gcd(k,n)=1$. In 2004, by Bluher \cite{BLUHER2004} it was known that possible values of $N_a$ are only 0, 1 and 3. In 2008, Helleseth and Kholosha \cite{HELLESETH2008} have got criteria for $N_a=1$ and an explicit expression of the unique solution when $\gcd(k,n)=1$. In 2014, Bracken, Tan and Tan \cite{BRACKEN2014} presented a criterion for $N_a=0$ when $n$ is even and $\gcd(k,n)=1$. This paper completely solves this equation $x^{2^k+1}+x+a=0$ with only condition $\gcd(n,k)=1$. We explicitly calculate all possible zeros in $\GF{n}$ of $P_a(x)$. New criterion for which $a$, $N_a$ is equal to $0$, $1$ or $3$ is a by-product of our result.
Efficient and Extensible Policy Mining for Relationship-Based Access Control
Venue: arXiv cs.CR 2019
Year: 2019

Relationship-based access control (ReBAC) is a flexible and expressive framework that allows policies to be expressed in terms of chains of relationship between entities as well as attributes of entities. ReBAC policy mining algorithms have a potential to significantly reduce the cost of migration from legacy access control systems to ReBAC, by partially automating the development of a ReBAC policy. Existing ReBAC policy mining algorithms support a policy language with a limited set of operators; this limits their applicability. This paper presents a ReBAC policy mining algorithm designed to be both (1) easily extensible (to support additional policy language features) and (2) scalable. The algorithm is based on Bui et al.'s evolutionary algorithm for ReBAC policy mining algorithm. First, we simplify their algorithm, in order to make it easier to extend and provide a methodology that extends it to handle new policy language features. However, extending the policy language increases the search space of candidate policies explored by the evolutionary algorithm, thus causes longer running time and/or worse results. To address the problem, we enhance the algorithm with a feature selection phase. The enhancement utilizes a neural network to identify useful features. We use the result of feature selection to reduce the evolutionary algorithm's search space. The new algorithm is easy to extend and, as shown by our experiments, is more efficient and produces better policies.
A Heuristic Algorithm for the Fabric Spreading and Cutting Problem in Apparel Factories
Venue: arXiv cs.AI 2019
Year: 2019

We study the fabric spreading and cutting problem in apparel factories. For the sake of saving the material costs, the cutting requirement should be met exactly without producing additional garment components. For reducing the production costs, the number of lays that corresponds to the frequency of using the cutting beds should be minimized. We propose an iterated greedy algorithm for solving the fabric spreading and cutting problem. This algorithm contains a constructive procedure and an improving loop. Firstly the constructive procedure creates a set of lays in sequence, and then the improving loop tries to pick each lay from the lay set and rearrange the remaining lays into a smaller lay set. The improving loop will run until it cannot obtain any small lay set or the time limit is due. The experiment results on 500 cases shows that the proposed algorithm is effective and efficient.
Security and Privacy on Blockchain
Venue: arXiv cs.CR 2019
Year: 2019

Blockchain offers an innovative approach to storing information, executing transactions, performing functions, and establishing trust in an open environment. Many consider blockchain as a technology breakthrough for cryptography and cybersecurity, with use cases ranging from globally deployed cryptocurrency systems like Bitcoin, to smart contracts, smart grids over the Internet of Things, and so forth. Although blockchain has received growing interests in both academia and industry in the recent years, the security and privacy of blockchains continue to be at the center of the debate when deploying blockchain in different applications. This paper presents a comprehensive overview of the security and privacy of blockchain. To facilitate the discussion, we first introduce the notion of blockchains and its utility in the context of Bitcoin like online transactions. Then we describe the basic security properties that are supported as the essential requirements and building blocks for Bitcoin like cryptocurrency systems, followed by presenting the additional security and privacy properties that are desired in many blockchain applications. Finally, we review the security and privacy techniques for achieving these security properties in blockchain-based systems, including representative consensus algorithms, hash chained storage, mixing protocols, anonymous signatures, non-interactive zero-knowledge proof, and so forth. We conjecture that this survey can help readers to gain an in-depth understanding of the security and privacy of blockchain with respect to concept, attributes, techniques and systems.
An Updated Duet Model for Passage Re-ranking
Venue: arXiv cs.IR 2019
Year: 2019

We propose several small modifications to Duet---a deep neural ranking model---and evaluate the updated model on the MS MARCO passage ranking task. We report significant improvements from the proposed changes based on an ablation study.
Reachability-Based Safety Guarantees using Efficient Initializations
Venue: arXiv cs.SY 2019
Year: 2019

Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally intensive and typically performed offline. Online, however, the autonomous system may experience changes in system dynamics, external disturbances, and/or the surrounding environment, requiring updated safety guarantees. Rather than restarting the safety analysis, we propose a method of "warm-start" reachability, which uses a user-defined initialization (typically the previously computed solution). By starting with an HJI function that is closer to the solution than the standard initialization, convergence may take fewer iterations. In this paper we prove that warm-starting will result in guaranteed conservative solutions by over-approximating the states that must be avoided to maintain safety. We additionally prove that for many common problem formulations, warm-starting will result in exact solutions.We demonstrate our method on several illustrative examples with a double integrator, and also on a more practical example with a 10D quadcopter model that experiences changes in mass and disturbances and must update its safety guarantees accordingly. We compare our approach to standard reachability and a recently proposed "discounted" reachability method, and find for our examples that warm-starting is 1.6 times faster than standard and 6.2 times faster than (untuned) discounted reachability.
Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems
Venue: arXiv cs.RO 2019
Year: 2019

In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator robots. Initially, collision-free configurations of a deformable 2-D virtual bounding box are identified, over a planning horizon, to define a convex workspace for the entire system. Then, 3-D payload configurations whose projections lie within the defined convex workspace are computed. Finally, a convex decentralized model-predictive controller is formulated to plan collision-free trajectories for the formation of mobile manipulators. This approach facilitates real-time motion planning for the system and is scalable in the number of robots. The algorithm is validated in simulated dynamic environments. Simulation video: https://youtu.be/9EKj7RwRs_4.